| commit | fdee2e52283c7578f5e41a2680eea4bcc4c8a01f | |
| author | Bruce Luckcuck <github@etracer.net> | |
| Wed, 16 May 2018 14:12:37 +0000 (16 10:12 -0400) | ||
| committer | Bruce Luckcuck <github@etracer.net> | |
| Wed, 16 May 2018 14:21:29 +0000 (16 10:21 -0400) | ||
| tree | e89e3b6e016a86e32cbd9d875bf3be0283c033bc | treesnapshot (tar.gz zip) |
| parent | e405e41d0ca18c434ee9a058232af520fb7b8f7e | commitdiff |
Break out rc interpolation as a separate task and run before pid controller and motor update
Fixes an issue with motor "spikes" when rc interpolation was enabled for throttle. The problem was that the smoothing was happening too late in the sequence and the earlier process subTaskMotorUpdate() would use the unsmoothed throttle value in the mixer if new rx data had come in between the last and current PID loop. Also because the setPointRate was calculated at the end of the smoothing, the PID controller would always be using the value from the previous loop iteration.
Fixes an issue with motor "spikes" when rc interpolation was enabled for throttle. The problem was that the smoothing was happening too late in the sequence and the earlier process subTaskMotorUpdate() would use the unsmoothed throttle value in the mixer if new rx data had come in between the last and current PID loop. Also because the setPointRate was calculated at the end of the smoothing, the PID controller would always be using the value from the previous loop iteration.
| src/main/fc/fc_core.c | diffblobblamehistory |